<?xml version="1.0" ?>
<Manifest
    xmlns="http://schemas.microsoft.com/xw/2004/10/manifest.html"
    xmlns:dssp="http://schemas.microsoft.com/xw/2004/10/dssp.html">

  <!--xmlns:main="http://erobots.jcepeda/2010/07/simpioneerscontrol.html"
          xmlns:simulatedlrf="http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulatedlrf.user.html"
          xmlns:simulateddifferentialdrive="http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulateddifferentialdrive.user.html"
          xmlns:this="urn:uuid:56230ef5-90d4-4785-a55a-414a149605cd"
          xmlns:simulatedwebcam="http://schemas.microsoft.com/2006/09/simulatedwebcam.user.html"
          xmlns:simulation="http://schemas.microsoft.com/robotics/2006/04/simulation.html"
          xmlns:simulatedbumpers="http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulatedbumper.user.html"-->

  <CreateServiceList>
    <!--<<< MAIN SERVICE >>>-->
    <ServiceRecordType>
      <dssp:Contract>http://erobots.jcepeda/2010/07/simpioneerscontrol.html</dssp:Contract>
      <dssp:Service>http://localhost/simpioneerscontrol</dssp:Service>
      <!--<dssp:PartnerList>
            -->
      <!--GENERIC DIFFERENTIAL DRIVES-->
      <!--
            <dssp:Partner>
              <dssp:Contract>http://schemas.microsoft.com/robotics/2006/05/drive.html</dssp:Contract>
              <dssp:PartnerList />
              <dssp:Name>main:P3DXDrive_1</dssp:Name>
              <dssp:ServiceName>this:simulateddifferentialdrive_1</dssp:ServiceName>
            </dssp:Partner>
            <dssp:Partner>
              <dssp:Contract>http://schemas.microsoft.com/robotics/2006/05/drive.html</dssp:Contract>
              <dssp:PartnerList />
              <dssp:Name>main:P3DXDrive_2</dssp:Name>
              <dssp:ServiceName>this:simulateddifferentialdrive_2</dssp:ServiceName>
            </dssp:Partner>
            <dssp:Partner>
              <dssp:Contract>http://schemas.microsoft.com/robotics/2006/05/drive.html</dssp:Contract>
              <dssp:PartnerList />
              <dssp:Name>main:P3DXDrive_3</dssp:Name>
              <dssp:ServiceName>this:simulateddifferentialdrive_3</dssp:ServiceName>
            </dssp:Partner>
            -->
      <!-- GENERIC WEBCAMS -->
      <!--
            <dssp:Partner>
              <dssp:Contract>http://schemas.microsoft.com/robotics/2006/05/webcamservice.html</dssp:Contract>
              <dssp:PartnerList />
              <dssp:Name>main:P3DXWebcam_1</dssp:Name>
              <dssp:ServiceName>this:simulatedwebcam_1</dssp:ServiceName>
            </dssp:Partner>
            <dssp:Partner>
              <dssp:Contract>http://schemas.microsoft.com/robotics/2006/05/webcamservice.html</dssp:Contract>
              <dssp:PartnerList />
              <dssp:Name>main:P3DXWebcam_2</dssp:Name>
              <dssp:ServiceName>this:simulatedwebcam_2</dssp:ServiceName>
            </dssp:Partner>
            <dssp:Partner>
              <dssp:Contract>http://schemas.microsoft.com/robotics/2006/05/webcamservice.html</dssp:Contract>
              <dssp:PartnerList />
              <dssp:Name>main:P3DXWebcam_3</dssp:Name>
              <dssp:ServiceName>this:simulatedwebcam_3</dssp:ServiceName>
            </dssp:Partner>
            -->
      <!-- LASER RANGE FINDERS-->
      <!--
            <dssp:Partner>
              <dssp:Contract>http://schemas.microsoft.com/xw/2005/12/sicklrf.html</dssp:Contract>
              <dssp:PartnerList />
              <dssp:Name>main:P3DXSick_1</dssp:Name>
              <dssp:ServiceName>this:simulatedlrf_1</dssp:ServiceName>
            </dssp:Partner>
            <dssp:Partner>
              <dssp:Contract>http://schemas.microsoft.com/xw/2005/12/sicklrf.html</dssp:Contract>
              <dssp:PartnerList />
              <dssp:Name>main:P3DXSick_2</dssp:Name>
              <dssp:ServiceName>this:simulatedlrf_2</dssp:ServiceName>
            </dssp:Partner>
            <dssp:Partner>
              <dssp:Contract>http://schemas.microsoft.com/xw/2005/12/sicklrf.html</dssp:Contract>
              <dssp:PartnerList />
              <dssp:Name>main:P3DXSick_3</dssp:Name>
              <dssp:ServiceName>this:simulatedlrf_3</dssp:ServiceName>
            </dssp:Partner>
            -->
      <!-- BUMPERS -->
      <!--
            <dssp:Partner>
              <dssp:Contract>http://schemas.microsoft.com/2006/06/contactsensor.html</dssp:Contract>
              <dssp:PartnerList />
              <dssp:Name>main:P3DXBumpers_1</dssp:Name>
              <dssp:ServiceName>this:simulatedbumpers_1</dssp:ServiceName>
            </dssp:Partner>
            <dssp:Partner>
              <dssp:Contract>http://schemas.microsoft.com/2006/06/contactsensor.html</dssp:Contract>
              <dssp:PartnerList />
              <dssp:Name>main:P3DXBumpers_2</dssp:Name>
              <dssp:ServiceName>this:simulatedbumpers_2</dssp:ServiceName>
            </dssp:Partner>
            <dssp:Partner>
              <dssp:Contract>http://schemas.microsoft.com/2006/06/contactsensor.html</dssp:Contract>
              <dssp:PartnerList />
              <dssp:Name>main:P3DXBumpers_2</dssp:Name>
              <dssp:ServiceName>this:simulatedbumpers_2</dssp:ServiceName>
            </dssp:Partner>
          </dssp:PartnerList>-->
    </ServiceRecordType>

    <!--<<< SIMULATED MOTOR BASES >>>-->
    <!--
      <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulateddifferentialdrive.user.html</dssp:Contract>
        <dssp:PartnerList>
          <dssp:Partner>
            <dssp:Service>http://localhost/P3DXDrive_1</dssp:Service>
            <dssp:PartnerList />
            <dssp:Name>simulation:Entity</dssp:Name>
          </dssp:Partner>
        </dssp:PartnerList>
        <Name>this:simulateddifferentialdrive_1</Name>
      </ServiceRecordType>
      <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulateddifferentialdrive.user.html</dssp:Contract>
        <dssp:PartnerList>
          <dssp:Partner>
            <dssp:Service>http://localhost/P3DXDrive_2</dssp:Service>
            <dssp:PartnerList />
            <dssp:Name>simulation:Entity</dssp:Name>
          </dssp:Partner>
        </dssp:PartnerList>
        <Name>this:simulateddifferentialdrive_2</Name>
      </ServiceRecordType>
      <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulateddifferentialdrive.user.html</dssp:Contract>
        <dssp:PartnerList>
          <dssp:Partner>
            <dssp:Service>http://localhost/P3DXDrive_3</dssp:Service>
            <dssp:PartnerList />
            <dssp:Name>simulation:Entity</dssp:Name>
          </dssp:Partner>
        </dssp:PartnerList>
        <Name>this:simulateddifferentialdrive_3</Name>
      </ServiceRecordType>
      -->
    <!--<<< SIMULATED WEBCAMS >>>-->
    <!--
      <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/2006/09/simulatedwebcam.user.html</dssp:Contract>
        <dssp:PartnerList>
          <dssp:Partner>
            <dssp:Service>http://localhost/P3DXWebcam_1</dssp:Service>
            <dssp:PartnerList />
            <dssp:Name>simulation:Entity</dssp:Name>
          </dssp:Partner>
        </dssp:PartnerList>
        <Name>this:simulatedwebcam_1</Name>
      </ServiceRecordType>
      <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/2006/09/simulatedwebcam.user.html</dssp:Contract>
        <dssp:PartnerList>
          <dssp:Partner>
            <dssp:Service>http://localhost/P3DXWebcam_2</dssp:Service>
            <dssp:PartnerList />
            <dssp:Name>simulation:Entity</dssp:Name>
          </dssp:Partner>
        </dssp:PartnerList>
        <Name>this:simulatedwebcam_2</Name>
      </ServiceRecordType>
      <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/2006/09/simulatedwebcam.user.html</dssp:Contract>
        <dssp:PartnerList>
          <dssp:Partner>
            <dssp:Service>http://localhost/P3DXWebcam_3</dssp:Service>
            <dssp:PartnerList />
            <dssp:Name>simulation:Entity</dssp:Name>
          </dssp:Partner>
        </dssp:PartnerList>
        <Name>this:simulatedwebcam_3</Name>
      </ServiceRecordType>
      -->
    <!--<<< SIMULATED LRF SENSORS >>>-->
    <!--
      <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulatedlrf.user.html</dssp:Contract>
        <dssp:PartnerList>
          <dssp:Partner>
            <dssp:Service>http://localhost/P3DXSick_1</dssp:Service>
            <dssp:PartnerList />
            <dssp:Name>simulation:Entity</dssp:Name>
          </dssp:Partner>
        </dssp:PartnerList>
        <Name>this:simulatedlrf_1</Name>
      </ServiceRecordType>
      <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulatedlrf.user.html</dssp:Contract>
        <dssp:PartnerList>
          <dssp:Partner>
            <dssp:Service>http://localhost/P3DXSick_2</dssp:Service>
            <dssp:PartnerList />
            <dssp:Name>simulation:Entity</dssp:Name>
          </dssp:Partner>
        </dssp:PartnerList>
        <Name>this:simulatedlrf_2</Name>
      </ServiceRecordType>
      <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulatedlrf.user.html</dssp:Contract>
        <dssp:PartnerList>
          <dssp:Partner>
            <dssp:Service>http://localhost/P3DXSick_3</dssp:Service>
            <dssp:PartnerList />
            <dssp:Name>simulation:Entity</dssp:Name>
          </dssp:Partner>
        </dssp:PartnerList>
        <Name>this:simulatedlrf_3</Name>
      </ServiceRecordType>
      -->
    <!--<<< SIMULATED BUMPERS >>>-->
    <!--
      <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulatedbumper.user.html</dssp:Contract>
        <dssp:PartnerList>
          <dssp:Partner>
            <dssp:Service>http://localhost/P3DXBumpers_1</dssp:Service>
            <dssp:PartnerList />
            <dssp:Name>simulation:Entity</dssp:Name>
          </dssp:Partner>
        </dssp:PartnerList>
        <Name>this:simulatedbumper_1</Name>
      </ServiceRecordType>
      <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulatedbumper.user.html</dssp:Contract>
        <dssp:PartnerList>
          <dssp:Partner>
            <dssp:Service>http://localhost/P3DXBumpers_2</dssp:Service>
            <dssp:PartnerList />
            <dssp:Name>simulation:Entity</dssp:Name>
          </dssp:Partner>
        </dssp:PartnerList>
        <Name>this:simulatedbumper_2</Name>
      </ServiceRecordType>
      <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulatedbumper.user.html</dssp:Contract>
        <dssp:PartnerList>
          <dssp:Partner>
            <dssp:Service>http://localhost/P3DXBumpers_3</dssp:Service>
            <dssp:PartnerList />
            <dssp:Name>simulation:Entity</dssp:Name>
          </dssp:Partner>
        </dssp:PartnerList>
        <Name>this:simulatedbumper_3</Name>
      </ServiceRecordType>-->
    <!--<<< SIMPLE DASHBOARD >>>-->
    <ServiceRecordType>
      <dssp:Contract>http://schemas.microsoft.com/robotics/2006/01/simpledashboard.html</dssp:Contract>
      <dssp:Service>http://localhost/dashboard</dssp:Service>
    </ServiceRecordType>

    <!--<<< PROMRDS DASHBOARD >>>-->
    <!--<ServiceRecordType>
      <dssp:Contract>http://www.promrds.com/contracts/2007/10/dashboard.html</dssp:Contract>
      <dssp:Service>http://localhost/PROMRDS_dashboard</dssp:Service>
    </ServiceRecordType>-->

  </CreateServiceList>
</Manifest>
